Package org.ironmaple.utils.mathutils

Class SwerveStateProjection

java.lang.Object

org.ironmaple.utils.mathutils.SwerveStateProjection

public class SwerveStateProjection
extends Object

Constructor Summary

Constructors

Constructor	Description
SwerveStateProjection()

Method Summary

Modifier and Type	Method	Description
static double	project(SwerveModuleState swerveSpeed, Rotation2d currentSwerveFacing)	Projects the swerve module speed onto the direction of the current swerve facing.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

SwerveStateProjection

public SwerveStateProjection()

Method Details

project

public static double project(SwerveModuleState swerveSpeed,
 Rotation2d currentSwerveFacing)

Projects the swerve module speed onto the direction of the current swerve facing.

Parameters:

swerveSpeed - The current speed and direction of the swerve module.

currentSwerveFacing - The desired direction to project onto.

Returns:

The projected speed in the direction of currentSwerveFacing.